You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
39 lines
856 B
39 lines
856 B
#pragma once |
|
|
|
#include "AP_RangeFinder.h" |
|
|
|
#ifndef AP_RANGEFINDER_BENEWAKE_ENABLED |
|
#define AP_RANGEFINDER_BENEWAKE_ENABLED AP_RANGEFINDER_ENABLED |
|
#endif |
|
|
|
#if AP_RANGEFINDER_BENEWAKE_ENABLED |
|
|
|
#include "AP_RangeFinder_Backend_Serial.h" |
|
|
|
class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend_Serial |
|
{ |
|
|
|
public: |
|
|
|
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial; |
|
|
|
protected: |
|
|
|
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { |
|
return MAV_DISTANCE_SENSOR_LASER; |
|
} |
|
|
|
virtual float model_dist_max_cm() const = 0; |
|
virtual bool has_signal_byte() const { return false; } |
|
|
|
private: |
|
|
|
// get a reading |
|
// distance returned in reading_m |
|
bool get_reading(float &reading_m) override; |
|
|
|
uint8_t linebuf[10]; |
|
uint8_t linebuf_len; |
|
}; |
|
|
|
#endif // AP_RANGEFINDER_BENEWAKE_ENABLED
|
|
|